Stabilization control of under-actuated mechanical system based on improved NPSO-PID controller

Peng Dai; Peisi Zhong; Haiyan Liu; Wenhao Lv; Hao Zhang

doi:10.1117/12.2625297

12 December 2021 Stabilization control of under-actuated mechanical system based on improved NPSO-PID controller

Peng Dai, Peisi Zhong, Haiyan Liu, Wenhao Lv, Hao Zhang

Proceedings Volume 12127, International Conference on Intelligent Equipment and Special Robots (ICIESR 2021); 121271G (2021) https://doi.org/10.1117/12.2625297
Event: International Conference on Intelligent Equipment and Special Robots (ICIESR 2021), 2021, Qingdao, China

Abstract

Aiming at the stabilization control problem of under-actuated mechanical system, a nonlinear particle swarm optimization algorithm based on sine function inertia weight is proposed to optimize the parameters of PID controller (NPSO-PID) and solve the problem of the under-actuated mechanical system based on the inability to establish an accurate mathematical model. Stabilize the control problem, and use the mobile wheeled robot as the research object to simulate and verify the proposed optimization algorithm. The results show that the proposed nonlinear particle swarm optimization algorithm based on the inertial weight of the sine function has a good dynamic quality and can be improved. The stable control of the under-actuated mechanical system is well guaranteed, simple and easy to implement, and has good practical application value.

Citation Download Citation

Peng Dai, Peisi Zhong, Haiyan Liu, Wenhao Lv, and Hao Zhang "Stabilization control of under-actuated mechanical system based on improved NPSO-PID controller", Proc. SPIE 12127, International Conference on Intelligent Equipment and Special Robots (ICIESR 2021), 121271G (12 December 2021); https://doi.org/10.1117/12.2625297

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